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# collision.h

    00001 /*************************************************************************
    00002  *                                                                       *
    00003  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
    00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
    00005  *                                                                       *
    00006  * This library is free software; you can redistribute it and/or         *
    00007  * modify it under the terms of EITHER:                                  *
    00008  *   (1) The GNU Lesser General Public License as published by the Free  *
    00009  *       Software Foundation; either version 2.1 of the License, or (at  *
    00010  *       your option) any later version. The text of the GNU Lesser      *
    00011  *       General Public License is included with this library in the     *
    00012  *       file LICENSE.TXT.                                               *
    00013  *   (2) The BSD-style license that is included with this library in     *
    00014  *       the file LICENSE-BSD.TXT.                                       *
    00015  *                                                                       *
    00016  * This library is distributed in the hope that it will be useful,       *
    00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
    00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
    00020  *                                                                       *
    00021  *************************************************************************/
    00022
    00023 #ifndef _ODE_COLLISION_H_
    00024 #define _ODE_COLLISION_H_
    00025
    00026 #include <ode/common.h>
    00027 #include <ode/collision_space.h>
    00028 #include <ode/contact.h>
    00029
    00030 #ifdef __cplusplus
    00031 extern "C" {
    00032 #endif
    00033
    00049 /* ************************************************************************ */
    00050 /* general functions */
    00051
    00065 ODE_API void dGeomDestroy (dGeomID geom);
    00066
    00067
    00075 ODE_API void dGeomSetData (dGeomID geom, void* data);
    00076
    00077
    00084 ODE_API void *dGeomGetData (dGeomID geom);
    00085
    00086
    00105 ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
    00106
    00107
    00114 ODE_API dBodyID dGeomGetBody (dGeomID geom);
    00115
    00116
    00131 ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
    00132
    00133
    00146 ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
    00147
    00148
    00162 ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
    00163
    00164
    00181 ODE_API const dReal * dGeomGetPosition (dGeomID geom);
    00182
    00183
    00191 ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
    00192
    00193
    00210 ODE_API const dReal * dGeomGetRotation (dGeomID geom);
    00211
    00212
    00226 ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
    00227
    00228
    00242 ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
    00243
    00244
    00261 ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
    00262
    00263
    00270 ODE_API int dGeomIsSpace (dGeomID geom);
    00271
    00272
    00280 ODE_API dSpaceID dGeomGetSpace (dGeomID);
    00281
    00282
    00307 ODE_API int dGeomGetClass (dGeomID geom);
    00308
    00309
    00322 ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
    00323
    00324
    00337 ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
    00338
    00339
    00348 ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
    00349
    00350
    00359 ODE_API unsigned long dGeomGetCollideBits (dGeomID);
    00360
    00361
    00374 ODE_API void dGeomEnable (dGeomID geom);
    00375
    00376
    00389 ODE_API void dGeomDisable (dGeomID geom);
    00390
    00391
    00405 ODE_API int dGeomIsEnabled (dGeomID geom);
    00406
    00407 /* ************************************************************************ */
    00408 /* geom offset from body */
    00409
    00425 ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
    00426
    00427
    00441 ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
    00442
    00443
    00457 ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
    00458
    00459
    00476 ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
    00477
    00478
    00493 ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
    00494
    00495
    00510 ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
    00511
    00512
    00526 ODE_API void dGeomClearOffset(dGeomID geom);
    00527
    00528
    00544 ODE_API int dGeomIsOffset(dGeomID geom);
    00545
    00546
    00560 ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
    00561
    00562
    00573 ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
    00574
    00575
    00590 ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
    00591
    00592
    00604 ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
    00605
    00606
    00617 ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
    00618
    00619
    00620 /* ************************************************************************ */
    00621 /* collision detection */
    00622
    00623 /*
    00624  * Just generate any contacts (disables any contact refining).
    00625  */
    00626 #define CONTACTS_UNIMPORTANT        0x80000000
    00627
    00675 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
    00676          int skip);
    00677
    00705 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
    00706
    00707
    00742 ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
    00743
    00744
    00745 /* ************************************************************************ */
    00746 /* standard classes */
    00747
    00748 /* the maximum number of user classes that are supported */
    00749 enum {
    00750   dMaxUserClasses = 4
    00751 };
    00752
    00753 /* class numbers - each geometry object needs a unique number */
    00754 enum {
    00755   dSphereClass = 0,
    00756   dBoxClass,
    00757   dCapsuleClass,
    00758   dCylinderClass,
    00759   dPlaneClass,
    00760   dRayClass,
    00761   dConvexClass,
    00762   dGeomTransformClass,
    00763   dTriMeshClass,
    00764   dHeightfieldClass,
    00765
    00766   dFirstSpaceClass,
    00767   dSimpleSpaceClass = dFirstSpaceClass,
    00768   dHashSpaceClass,
    00769   dQuadTreeSpaceClass,
    00770   dLastSpaceClass = dQuadTreeSpaceClass,
    00771
    00772   dFirstUserClass,
    00773   dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
    00774   dGeomNumClasses
    00775 };
    00776
    00777
    00797 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
    00798
    00799
    00809 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
    00810
    00811
    00820 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
    00821
    00822
    00837 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
    00838
    00839
    00840 //--> Convex Functions
    00841 ODE_API dGeomID dCreateConvex (dSpaceID space,
    00842                 dReal *_planes,
    00843                 unsigned int _planecount,
    00844                 dReal *_points,
    00845                 unsigned int _pointcount,unsigned int *_polygons);
    00846
    00847 ODE_API void dGeomSetConvex (dGeomID g,
    00848               dReal *_planes,
    00849               unsigned int _count,
    00850               dReal *_points,
    00851               unsigned int _pointcount,unsigned int *_polygons);
    00852 //<-- Convex Functions
    00853
    00875 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
    00876
    00877
    00889 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
    00890
    00891
    00901 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
    00902
    00903
    00916 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
    00917
    00918
    00919 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
    00920 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
    00921 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
    00922 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
    00923
    00924 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
    00925 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
    00926 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
    00927 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
    00928
    00929 // For now we want to have a backwards compatible C-API, note: C++ API is not.
    00930 #define dCreateCCylinder dCreateCapsule
    00931 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
    00932 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
    00933 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
    00934 #define dCCylinderClass dCapsuleClass
    00935
    00936 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
    00937 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
    00938 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
    00939
    00940 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
    00941 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
    00942 ODE_API dReal dGeomRayGetLength (dGeomID ray);
    00943 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
    00944         dReal dx, dReal dy, dReal dz);
    00945 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
    00946
    00947 /*
    00948  * Set/get ray flags that influence ray collision detection.
    00949  * These flags are currently only noticed by the trimesh collider, because
    00950  * they can make a major differences there.
    00951  */
    00952 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
    00953 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
    00954 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
    00955 ODE_API int dGeomRayGetClosestHit (dGeomID g);
    00956
    00957 #include "collision_trimesh.h"
    00958
    00959 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
    00960 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
    00961 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
    00962 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
    00963 ODE_API int dGeomTransformGetCleanup (dGeomID g);
    00964 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
    00965 ODE_API int dGeomTransformGetInfo (dGeomID g);
    00966
    00967
    00968 /* ************************************************************************ */
    00969 /* heightfield functions */
    00970
    00971
    00972 // Data storage for heightfield data.
    00973 struct dxHeightfieldData;
    00974 typedef struct dxHeightfieldData* dHeightfieldDataID;
    00975
    00976
    00994 typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
    00995
    00996
    00997
    01017 ODE_API dGeomID dCreateHeightfield( dSpaceID space,
    01018                dHeightfieldDataID data, int bPlaceable );
    01019
    01020
    01033 ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
    01034
    01035
    01044 ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
    01045
    01046
    01047
    01088 ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
    01089             void* pUserData, dHeightfieldGetHeight* pCallback,
    01090             dReal width, dReal depth, int widthSamples, int depthSamples,
    01091             dReal scale, dReal offset, dReal thickness, int bWrap );
    01092
    01136 ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
    01137             const unsigned char* pHeightData, int bCopyHeightData,
    01138             dReal width, dReal depth, int widthSamples, int depthSamples,
    01139             dReal scale, dReal offset, dReal thickness,  int bWrap );
    01140
    01184 ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
    01185             const short* pHeightData, int bCopyHeightData,
    01186             dReal width, dReal depth, int widthSamples, int depthSamples,
    01187             dReal scale, dReal offset, dReal thickness, int bWrap );
    01188
    01234 ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
    01235             const float* pHeightData, int bCopyHeightData,
    01236             dReal width, dReal depth, int widthSamples, int depthSamples,
    01237             dReal scale, dReal offset, dReal thickness, int bWrap );
    01238
    01284 ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
    01285             const double* pHeightData, int bCopyHeightData,
    01286             dReal width, dReal depth, int widthSamples, int depthSamples,
    01287             dReal scale, dReal offset, dReal thickness, int bWrap );
    01288
    01306 ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
    01307             dReal minHeight, dReal maxHeight );
    01308
    01309
    01320 ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
    01321
    01322
    01332 ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
    01333
    01334
    01335
    01336 /* ************************************************************************ */
    01337 /* utility functions */
    01338
    01339 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
    01340             const dVector3 b1, const dVector3 b2,
    01341             dVector3 cp1, dVector3 cp2);
    01342
    01343 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
    01344           const dVector3 side1, const dVector3 _p2,
    01345           const dMatrix3 R2, const dVector3 side2);
    01346
    01347 // The meaning of flags parameter is the same as in dCollide()
    01348 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
    01349         const dVector3 side1, const dVector3 p2,
    01350         const dMatrix3 R2, const dVector3 side2,
    01351         dVector3 normal, dReal *depth, int *return_code,
    01352         int flags, dContactGeom *contact, int skip);
    01353
    01354 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
    01355 ODE_API void dInitODE(void);
    01356 ODE_API void dCloseODE(void);
    01357
    01358 /* ************************************************************************ */
    01359 /* custom classes */
    01360
    01361 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
    01362 typedef int dColliderFn (dGeomID o1, dGeomID o2,
    01363           int flags, dContactGeom *contact, int skip);
    01364 typedef dColliderFn * dGetColliderFnFn (int num);
    01365 typedef void dGeomDtorFn (dGeomID o);
    01366 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
    01367
    01368 typedef struct dGeomClass {
    01369   int bytes;
    01370   dGetColliderFnFn *collider;
    01371   dGetAABBFn *aabb;
    01372   dAABBTestFn *aabb_test;
    01373   dGeomDtorFn *dtor;
    01374 } dGeomClass;
    01375
    01376 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
    01377 ODE_API void * dGeomGetClassData (dGeomID);
    01378 ODE_API dGeomID dCreateGeom (int classnum);
    01379
    01380 /* ************************************************************************ */
    01381
    01382 #ifdef __cplusplus
    01383 }
    01384 #endif
    01385
    01386 #endif